Rhythmic feedback control of a blind planar juggler

Ronsse, R.; Lefevre, Philippe; Sepulchre, Rodolphe

doi:10.1109/TRO.2007.900602

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Rhythmic feedback control of a blind planar juggler

Ronsse, R.; Lefevre, Philippe; Sepulchre, Rodolphe

2007 • In IEEE Transactions on Robotics, 23 (4), p. 790-802

Peer Reviewed verified by ORBi

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https://hdl.handle.net/2268/33229

DOI
10.1109/TRO.2007.900602

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Keywords :

bouncing ball; impact dynamics; intermittent control; juggling

Abstract :

[en] The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness analysis of the proposed control suggests that the arms acceleration at impact is a crucial design parameter even though it plays no role in the stability analysis. Analytical results and convergence proofs are provided for a simplified model of the juggler. The control law is then adapted to a more accurate model and validated in an experimental setup.

Disciplines :

Computer science

Author, co-author :

Ronsse, R.

Lefevre, Philippe

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Language :

English

Title :

Rhythmic feedback control of a blind planar juggler

Publication date :

August 2007

Journal title :

IEEE Transactions on Robotics

ISSN :

1552-3098

Publisher :

Ieee-Inst Electrical Electronics Engineers Inc, Piscataway, United States - New Jersey

Volume :

Issue :

Pages :

790-802

Peer reviewed :

Peer Reviewed verified by ORBi

Additional URL :

http://www.montefiore.ulg.ac.be/~ronsse/Wiper/index.html

Available on ORBi :

since 21 December 2009

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